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EKF: Inform console of serious fusion numerical errors

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Paul Riseborough
2016-06-08 11:58:33 +10:00
parent dbfe8c0242
commit 381d99aed6
2 changed files with 12 additions and 2 deletions
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EKF/airspeed_fusion.cpp
+3 -1
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@@ -40,6 +40,7 @@
* @author Paul Riseborough <p_riseborough@live.com.au>
*
*/
#include "../ecl.h"
#include "ekf.h"
#include "mathlib.h"
@@ -92,9 +93,10 @@ void Ekf::fuseAirspeed()
SK_TAS[0] = 1.0f / _airspeed_innov_var_temp;
_fault_status.flags.bad_airspeed = false;
} else { // Reset the estimator
} else { // Reset the estimator covarinace matrix
_fault_status.flags.bad_airspeed = true;
initialiseCovariance();
ECL_ERR("EKF airspeed fusion numerical error - covariance reset");
return;
}